1. tuned arrow mesh drawing

2. centralixzed arrow config in layout.py
3. seperate mesh render and display resolution to speed up (~40 fps)

examples/viz/offscreen_mesh.py

@@ -10,7 +10,13 @@ from orisys.finger.mesh import UVSurfaceMesh
 from orisys.finger.viewer import flow_magnitude_vertex_colors, scalar_map_vertex_colors
 
 from .contact_arrow import ContactArrowOverlay
-from .mesh_camera import apply_view_from_world_to_cam, camera_look_at_from_world_to_cam
+from .mesh_camera import (
+    apply_filament_sun_light,
+    apply_shade_factors,
+    apply_view_from_world_to_cam,
+    camera_look_at_from_world_to_cam,
+    precompute_shade_factors,
+)
 
 
 def _numpy_o3d_image_to_rgb(image) -> np.ndarray:
@@ -22,13 +28,17 @@ def _numpy_o3d_image_to_rgb(image) -> np.ndarray:
     return arr.astype(np.uint8)
 
 
-def _make_unlit_material(o3d):
+def _make_lit_material(o3d):
     material = o3d.visualization.rendering.MaterialRecord()
-    material.shader = "defaultUnlit"
+    material.shader = "defaultLit"
     material.base_color = (1.0, 1.0, 1.0, 1.0)
     return material
 
 
+def _shade_vertex_colors(mesh, colors: np.ndarray, shade_factors) -> np.ndarray:
+    return apply_shade_factors(colors, shade_factors)
+
+
 def _mesh_to_o3d(o3d, vertices: np.ndarray, triangles: np.ndarray, colors: np.ndarray):
     mesh = o3d.geometry.TriangleMesh()
     mesh.vertices = o3d.utility.Vector3dVector(vertices.astype(np.float64))
@@ -70,6 +80,8 @@ class _FilamentOffscreenBackend:
         world_to_cam: np.ndarray | None,
         lookat: np.ndarray,
         show_contact_arrow: bool,
+        mesh_lighting=None,
+        contact_arrow_style=None,
     ):
         import open3d as o3d
 
@@ -83,10 +95,26 @@ class _FilamentOffscreenBackend:
         self.value_max = value_max
         self.world_to_cam = world_to_cam
         self.lookat = lookat
-        self._contact_arrow = ContactArrowOverlay(mesh, enabled=show_contact_arrow)
+        self.mesh_lighting = mesh_lighting
+        self._shade_factors = (
+            precompute_shade_factors(mesh.rest_vertices, mesh.triangles, mesh_lighting)
+            if mesh_lighting is not None
+            else None
+        )
+        self._contact_arrow = ContactArrowOverlay(
+            mesh,
+            enabled=show_contact_arrow,
+            style=contact_arrow_style,
+        )
         self._renderer = o3d.visualization.rendering.OffscreenRenderer(self.width, self.height)
         self._renderer.scene.set_background([0.05, 0.05, 0.08, 1.0])
-        self._material = _make_unlit_material(o3d)
+        if mesh_lighting is not None:
+            apply_filament_sun_light(
+                self._renderer,
+                direction=mesh_lighting.direction,
+                intensity=mesh_lighting.intensity,
+            )
+        self._material = _make_lit_material(o3d)
         self._mesh_added = False
         self._arrow_added = False
         self._apply_camera()
@@ -111,6 +139,13 @@ class _FilamentOffscreenBackend:
         self.height = height
         self._renderer = self._o3d.visualization.rendering.OffscreenRenderer(self.width, self.height)
         self._renderer.scene.set_background([0.05, 0.05, 0.08, 1.0])
+        if self.mesh_lighting is not None:
+            apply_filament_sun_light(
+                self._renderer,
+                direction=self.mesh_lighting.direction,
+                intensity=self.mesh_lighting.intensity,
+            )
+        self._material = _make_lit_material(self._o3d)
         self._mesh_added = False
         self._arrow_added = False
         self._apply_camera()
@@ -172,6 +207,8 @@ class _HiddenVisualizerBackend:
         world_to_cam: np.ndarray | None,
         lookat: np.ndarray,
         show_contact_arrow: bool,
+        mesh_lighting=None,
+        contact_arrow_style=None,
     ):
         import open3d as o3d
 
@@ -185,7 +222,17 @@ class _HiddenVisualizerBackend:
         self.value_max = value_max
         self.world_to_cam = world_to_cam
         self.lookat = lookat
-        self._contact_arrow = ContactArrowOverlay(mesh, enabled=show_contact_arrow)
+        self.mesh_lighting = mesh_lighting
+        self._shade_factors = (
+            precompute_shade_factors(mesh.rest_vertices, mesh.triangles, mesh_lighting)
+            if mesh_lighting is not None
+            else None
+        )
+        self._contact_arrow = ContactArrowOverlay(
+            mesh,
+            enabled=show_contact_arrow,
+            style=contact_arrow_style,
+        )
         self.vis = None
         self.tri_mesh = None
         self._create_window()
@@ -202,6 +249,7 @@ class _HiddenVisualizerBackend:
             value_min=self.value_min,
             value_max=self.value_max,
         )
+        colors = _shade_vertex_colors(self.mesh, colors, self._shade_factors)
         self.vis = o3d.visualization.Visualizer()
         self.vis.create_window(
             window_name="Orisys Finger Mesh (embedded)",
@@ -222,9 +270,9 @@ class _HiddenVisualizerBackend:
 
         render_option = self.vis.get_render_option()
         render_option.mesh_show_back_face = True
+        render_option.background_color = np.array([0.05, 0.05, 0.08])
         if hasattr(render_option, "light_on"):
             render_option.light_on = False
-        render_option.background_color = np.array([0.05, 0.05, 0.08])
 
         if self.world_to_cam is not None:
             apply_view_from_world_to_cam(self.vis, self.world_to_cam, lookat=self.lookat)
@@ -261,11 +309,9 @@ class _HiddenVisualizerBackend:
             flow=flow,
             scalar_map=scalar_map,
         )
-        vertices = self.mesh.rest_vertices
+        colors = _shade_vertex_colors(self.mesh, colors, self._shade_factors)
 
-        self.tri_mesh.vertices = o3d.utility.Vector3dVector(vertices.astype(np.float64))
         self.tri_mesh.vertex_colors = o3d.utility.Vector3dVector(colors.astype(np.float64))
-        self.tri_mesh.compute_vertex_normals()
         self.vis.update_geometry(self.tri_mesh)
 
         arrow_result = self._contact_arrow.compute(centroid, centroid_found, fnormal)
@@ -293,7 +339,6 @@ def _create_backend(mesh: UVSurfaceMesh, **kwargs):
     except RuntimeError:
         return _HiddenVisualizerBackend(mesh, **kwargs)
 
-
 class OffscreenFingerMeshRenderer:
     """Render finger UV mesh + contact arrow to an RGB image for Qt embedding."""
 
@@ -310,6 +355,8 @@ class OffscreenFingerMeshRenderer:
         world_to_cam: np.ndarray | None = None,
         lookat: np.ndarray | None = None,
         show_contact_arrow: bool = True,
+        mesh_lighting=None,
+        contact_arrow_style=None,
     ):
         lookat = lookat if lookat is not None else mesh.rest_vertices.mean(axis=0)
         self._backend = _create_backend(
@@ -323,6 +370,8 @@ class OffscreenFingerMeshRenderer:
             world_to_cam=world_to_cam,
             lookat=lookat,
             show_contact_arrow=show_contact_arrow,
+            mesh_lighting=mesh_lighting,
+            contact_arrow_style=contact_arrow_style,
         )
 
     @property